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arXiv · 1904.06524

On Model Adaptation for Sensorimotor Control of Robots

David Navarro-Alarcon·Andrea Cherubini·Xiang Li
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Abstract

In this article, we address the problem of computing adaptive sensorimotor models that can be used for guiding the motion of robotic systems with uncertain action-to-perception relations. The formulation of the uncalibrated sensor-based control problem is first presented, then, various computational methods for building adaptive sensorimotor models are derived and analysed. The proposed methodology is exemplified with two cases of study: (i) shape control of deformable objects with unknown properties, and (ii) soft manipulation of ultrasonic probes with uncalibrated sensors.

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David Navarro-Alarcon, Andrea Cherubini, Xiang Li. 2019-04-13. On Model Adaptation for Sensorimotor Control of Robots. https://arxiv.org/abs/1904.06524

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